2-month-old kitten needs paw/face wipes but I read cats hate being held against their will?

My kitten is 2 months old and needs a bit of hygiene help right now:
- Wiping his front paws and face after he eats (he’s a messy little guy)
- Wiping his hind legs after the litter box because he sometimes steps in his own stool

I read that cats don’t like being restrained and might start resenting whoever does it. So now I’m stuck — how do I actually get this done without him growing up to hate me?